Performance of a partitioned visual feedback controller

Oh, Paul Y.; Allen, Peter K.

We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Position-based data is used to kinematically servo the second class of joints that have large kinematic range. The net effect is an active-vision system that synergistically tracks a diverse range of targets (without using CAD-based models) over a wide bandwidth of motion dynamics.



Also Published In

Proceedings: 1999 IEEE International Conference on Robotics and Automation, May 10-15, 1999, Marriott Hotel, Renaissance Center, Detroit, Michigan

More About This Work

Academic Units
Computer Science
Published Here
November 7, 2012